Scope of document
The purpose of this manual is to describe how to mount/repair the tendons of iCub.
The body parts
Please click on any of the iCub body parts below to get instructions on how to re-cable them.
iCub mechanical versions
Here is a table showing the visual differences of iCub from version 1 to 2.7.
|iCub V1||iCub V2|
|iCub V2.5||iCub V2.5 - Backpack|
|Part activated by tendons||iCub V1||iCub V2||iCub V2.5||iCub V2.5 & following (w/ backpack)|
|SHOULDER||YES - V1||YES - V2||YES - V2||YES - V2|
|LOWER ARM (Forearm + Hand)||YES - V1||YES - V1||YES - V2||YES - V2|